Design and Analysis of a Cable-winding Device for Cable Suspended Parallel Robot

Abstract

—Cable-Driven Parallel Robots (CDPR) have recently been applied in a variety of industries. Particularly in specialized industrial fields where dynamic features such as high precision in systems demand quick transitions so that cable-driven parallel robots have been deployed. The cable force is the most important factor influencing the control algorithm of the cable-suspended parallel robot. The cable force at the attachment point of the cables at the platform and the winch are different. Due to friction, the pulleys between the force sensor and the platform affect the force measurement accuracy. This disparity is caused by a variety of factors, including high acceleration, stiffness, cable density, and cable length. In this paper, a dynamic model and cable tension are designed for cable transmission to increase the accuracy of cable forces. The influencing variables of the cable force during motion are defined by studying the force relationship of the cable. Finally, experiment and numerical simulation are used to verify the correctness of the research content in this study. The results show that the model can accurately simulate the force state of the cable compared to the actual force measured at the load cell.